Yaskawa LEGEND-MC - Manual (Page 5)

LEGEND-MC User’s Manual
TABLE OF CONTENTS
1 Introduction .............................................................................................................................1
Part Numbers .....................................................................................................................2
Start-up ..............................................................................................................................3
Mounting the LEGEND-MC to the LEGEND Amplifier ..........................................3
Mounting Orientation ............................................................................................3
Front Panel Description ..................................................................................................... 4
Power/Connections Wiring - Single Phase ........................................................................5
Power/Connections Wiring - Three Phase .........................................................................6
Cable Shielding, Segregation and Noise Immunity ...........................................................7
I/O Connections (50-pin CN5) ...........................................................................................8
Analog I/O ..........................................................................................................................9
Analog Input ..........................................................................................................9
Analog Output .....................................................................................................10
Digital I/O .........................................................................................................................11
Digital Input .........................................................................................................11
Digital Output .....................................................................................................12
Emergency Stop Chain ....................................................................................................13
Serial Communication ......................................................................................................14
External Encoder Specifications ......................................................................................15
Dedicated Inputs ..............................................................................................................16
Physical Specifications ....................................................................................................17
Hardware Specifications ..................................................................................................17
Cable Diagram and Dimensional Drawings .....................................................................18
I/O Cable with Terminal Block JUSP-TA50P ......................................................18
2 Theory of Operation .............................................................................................................21
Overview ..........................................................................................................................21
Level ................................................................................................................................22
Operation of Closed-Loop Systems .................................................................................24
System Modeling .............................................................................................................25
Controller ............................................................................................................25
Motor-Amplifier ...................................................................................................25
Current Drive ......................................................................................................25
Encoder ..............................................................................................................26
DAC ....................................................................................................................26
Digital Filter .........................................................................................................26
ZOH ....................................................................................................................27
System Analysis ..............................................................................................................27
System Design and Compensation .................................................................................30
The Analytical Method ........................................................................................30
Notch Filter .........................................................................................................32
3 Communications ..................................................................................................................37
Introduction ......................................................................................................................37
Controller Response to Data ..............................................................................37
RS232 Port .........................................................................................................37
SMC Protocol Guidelines .................................................................................................38
Ethernet Configuration .....................................................................................................39
Communication Protocols ...................................................................................39
Addressing ..........................................................................................................40
Ethernet Handles ................................................................................................40
Global vs. Local Operation .................................................................................41
Configuring Operation for Distributed Control
(Obsolete Method < 1.0c firmware) ....................................................................42
Operation of Distributed Control .........................................................................42
Accessing the I/O of the slaves ..........................................................................43